Remote control catheterization

Claim 2

A remote control catheterization system for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; wherein the propelling device comprises a force sensor which measures a force applied during insertion of the elongated probe, the force sensor comprises a torque gauge which measures a torque required to move the elongated probe.

Claim 3

A system according to claim 1 , wherein the propelling device comprise wheels which roll against the elongated probes in one direction to advance the elongated probes, and in the reverse direction to retract the elongated probes.

Claim 4

A system according to claim 1 , wherein the propelling device comprises an arm which grasps and pushes the elongated probe to advance it and grasps and pulls the elongated probe to retract it.

Claim 5

A system according to claim 1 , wherein the propelling device comprises a rotation mechanism, which rotates the elongated probe about a longitudinal axis thereof.

Claim 6

A system according to claim 4 , wherein the rotating mechanism comprises rollers which roll against the elongated probe.

Claim 7

A system according to claim 1 , wherein the propelling device comprises a motor which drives the insertion of the elongated probe.

Claim 8

A system according to claim 1 , wherein the control console receives force measurements from the force sensor and provides tactile feedback responsive thereto to the user.

Claim 9

A system according to claim 1 , wherein the propelling device comprises a movement sensor for measuring a linear advance of the elongated probe.

Claim 10

A system according to claim 1 , wherein the control console comprises a display which receives and displays data relating to the propelling device.

Claim 11

A system according to claim 1 , wherein the user controls comprise a joystick for tactile control of the propelling device.

Claim 12

A remote control catheterization system for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; wherein the system comprises a fluoroscope which produces a real-time image showing the progress of any of the elongated probes in the body of the patient.

Claim 13

A remote control catheterization system for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; wherein the system comprises a fluoroscope which produces a real-time image showing the progress of any of the elongated probes in the body of the patient.

Claim 14

A remote control catheterization method for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the method comprising: providing a system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; inserting the first elongated probe into a body passage of the patient; inserting, coaxially to the first elongated probe, the second elongated probe into the same body passage; feeding a portion of the first elongated probe into the first propelling mechanism, and a portion of the second elongated probe into the second propelling mechanism, advancing the elongated probes through the body passage; and controlling the propelling device to advance the elongated probes from a location remote from the body; wherein controlling the propelling device comprises measuring a force applied to move the elongated probe by measuring torque.

Claim 15

A remote control catheterization method for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the method comprising: providing a system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; inserting the first elongated probe into a body passage of the patient; inserting, coaxially to the first elongated probe, the second elongated probe into the same body passage; feeding a portion of the first elongated probe into the first propelling mechanism, and a portion of the second elongated probe into the second propelling mechanism, advancing the elongated probes through the body passage; and controlling the propelling device to advance the elongated probes from a location remote from the body; wherein controlling the propelling device comprises measuring a force applied to move the elongated probe by measuring torque.

Claim 16

A method according to claim 12 , wherein feeding the portion of the elongated probe comprises feeding the probe between wheels which roll against the probe to advance it.

Claim 17

A method according to claim 12 , wherein feeding the portion of the probe comprises grasping the probe with an arm which pushes the probe to advance it.

Claim 18

A method according to claim 12 , wherein feeding the portion of the probe comprises feeding the probe into a rotating mechanism which rotates the probe about a longitudinal axis thereof.

Claim 19

A method according to claim 12 , wherein feeding the portion of the probe into the rotating mechanism comprises feeding the probe between rollers which roll against the probe to rotate the probe around the longitudinal axis.

Claim 20

A method according to claim 12 , wherein controlling the propelling device comprises controlling a motor which drives the insertion of the elongated probe.

Claim 21

A method according to claim 12 , wherein controlling the propelling device comprises measuring a linear advance of the elongated probe.

Claim 22

A method according to claim 12 , wherein controlling the propelling device comprises receiving measurements relating to the propelling device and displaying the measurements on the control console.

Claim 23

A method according to claim 12 , wherein controlling the propelling device comprises operating a joystick.

Claim 24

A method according to claim 20 , wherein operating the joystick comprises receiving tactile feedback relating to the propelling device.

Claim 25

A method according to claim 12 , wherein inserting the elongated probe comprises inserting a guide wire and inserting the elongated probe over the guide wire.

Claim 26

A method according to claim 12 , wherein inserting the elongated probe comprises inserting a catheter into a blood vessel.

Claim 27

A method according to claim 23 , wherein controlling the propelling device comprises controlling the device to advance the catheter to the heart.

Claim 28

A remote control catheterization method for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the method comprising: providing a system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; inserting the first elongated probe into a body passage of the patient; inserting, coaxially to the first elongated probe, the second elongated probe into the same body passage; feeding a portion of the first elongated probe into the first propelling mechanism, and a portion of the second elongated probe into the second propelling mechanism, advancing the elongated probes through the body passage; and controlling the propelling device to advance the elongated probes from a location remote from the body by displaying a fluoroscopic image showing progress of the elongated probe in the patient's body.

Claim 29

A remote control catheterization method for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the method comprising: providing a system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; inserting the first elongated probe into a body passage of the patient; inserting, coaxially to the first elongated probe, the second elongated probe into the same body passage; feeding a portion of the first elongated probe into the first propelling mechanism, and a portion of the second elongated probe into the second propelling mechanism, advancing the elongated probes through the body passage; and controlling the propelling device to advance the elongated probes from a location remote from the body by displaying a fluoroscopic image showing progress of the elongated probe in the patient's body.

Claim 30

A remote control catheterization method for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the method comprising: providing a system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; inserting the first elongated probe into a body passage of the patient; inserting, coaxially to the first elongated probe, the second elongated probe into the same body passage; inserting an ancillary device through one of said elongated probe feeding a portion of the first elongated probe into the first propelling mechanism, and a portion of the second elongated probe into the second propelling mechanism, advancing the elongated probes through the body passage; and controlling the propelling device to advance the elongated probes from a location remote from the body.

Claim 31

A remote control catheterization method for coaxially inserting into the vasculature of a patient at least a first elongated probe and a second elongated probe, the method comprising: providing a system comprising: a propelling device for controllably inserting the elongated probes, comprising at least a first mechanism for propelling the first elongated probe and a second mechanism for propelling the second elongated probe, the propelling mechanisms operating coaxially; a control console, in communication with the propelling device, and comprising user controls which are operated by a user of the system remote from the patient to control insertion of the elongated probes into the vasculature by the propelling device; inserting the first elongated probe into a body passage of the patient; inserting, coaxially to the first elongated probe, the second elongated probe into the same body passage; inserting an ancillary device through one of said elongated probe feeding a portion of the first elongated probe into the first propelling mechanism, and a portion of the second elongated probe into the second propelling mechanism, advancing the elongated probes through the body passage; and controlling the propelling device to advance the elongated probes from a location remote from the body.